485 lines
15 KiB
C++
485 lines
15 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include <QMessageBox>
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#include <QDebug>
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#include <QScreen>
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#include <QApplication>
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#include <QLabel>
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#include <QMouseEvent>
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#include <QSizeGrip>
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#include <QSettings>
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#include <QCoreApplication>
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#include <QTimer>
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#include "Version.h"
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#include "StyledMessageBox.h"
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#include "DialogConfig.h"
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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{
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ui->setupUi(this);
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// 设置窗口图标
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#ifdef _WIN32
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this->setWindowIcon(QIcon(":/resource/logo.ico"));
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#else
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this->setWindowIcon(QIcon(":/resource/logo.png"));
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#endif
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// 隐藏标题栏
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setWindowFlags(Qt::FramelessWindowHint);
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// 设置状态栏
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QFont statusFont = statusBar()->font();
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statusFont.setPointSize(12);
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statusBar()->setFont(statusFont);
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statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");
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// 添加版本信息到状态栏（只显示版本号）
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QString versionText = QString("%1").arg(GetControlVersionOnly());
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QLabel* versionLabel = new QLabel(versionText);
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versionLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px;");
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statusBar()->addPermanentWidget(versionLabel);
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// 设置窗口大小为1200x700，不自动最大化
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this->resize(1200, 700);
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this->setMinimumSize(1200, 700); // 设置最小尺寸
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// 安装事件过滤器到顶部groupBox，用于拖动窗口
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ui->groupBox->installEventFilter(this);
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// 初始化工作流程显示组件
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m_workflowWidget = new WorkflowWidget(this);
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QVBoxLayout* workflowLayout = new QVBoxLayout(ui->frame_workflow);
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workflowLayout->setContentsMargins(0, 0, 0, 0);
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workflowLayout->addWidget(m_workflowWidget);
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// 初始化设备状态显示组件
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m_deviceStatusWidget = new DeviceStatusWidget(this);
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m_deviceStatusWidget->setCameraCount(1); // 显示1个相机（用于显示控制器状态）
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m_deviceStatusWidget->setCamera1Name("控制器");
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m_deviceStatusWidget->setCameraClickable(false); // 控制器不可点击
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QVBoxLayout* deviceLayout = new QVBoxLayout(ui->frame_device);
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deviceLayout->setContentsMargins(0, 0, 0, 0);
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deviceLayout->addWidget(m_deviceStatusWidget);
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// 初始化日志辅助类
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m_logHelper = new DetectLogHelper(ui->detect_log, this);
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// 创建Presenter
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m_presenter = new DemoControlPresenter(this);
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// 连接信号槽
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connect(m_presenter, &DemoControlPresenter::statusMessageUpdated,
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this, &MainWindow::onStatusMessageUpdated);
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connect(m_presenter, &DemoControlPresenter::workflowStepChanged,
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this, &MainWindow::onWorkflowStepChanged);
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connect(m_presenter, &DemoControlPresenter::controllerConnectionChanged,
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this, &MainWindow::onControllerConnectionChanged);
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connect(m_presenter, &DemoControlPresenter::robotConnectionChanged,
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this, &MainWindow::onRobotConnectionChanged);
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connect(m_presenter, &DemoControlPresenter::detectionResultUpdated,
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this, &MainWindow::onDetectionResultUpdated);
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// 初始化按钮状态
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ui->btn_pause->setEnabled(false);
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ui->btn_step->setEnabled(true);
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// 初始化
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Init();
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}
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MainWindow::~MainWindow()
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{
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if (m_presenter) {
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delete m_presenter;
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m_presenter = nullptr;
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}
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delete ui;
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}
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void MainWindow::Init()
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{
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updateStatusLog("主控程序初始化中...");
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// 在线程中执行初始化
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std::thread initThread([this]() {
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int result = m_presenter->Init();
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if (result != 0) {
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updateStatusLog(QString("初始化失败，错误码：%1").arg(result));
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} else {
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updateStatusLog("系统初始化完成");
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}
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// 从配置文件加载配置
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QMetaObject::invokeMethod(this, [this]() {
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// 加载配置到Presenter
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DialogConfig::LoadConfigToPresenter(m_presenter);
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updateStatusLog("配置已加载");
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// 从配置文件读取连接参数
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QSettings settings(DialogConfig::GetConfigFilePath(), QSettings::IniFormat);
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QString controllerIP = settings.value("Controller/IP", "192.168.0.88").toString();
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int controllerPort = settings.value("Controller/Port", 502).toInt();
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QString robotIP = settings.value("Robot/IP", "192.168.58.2").toString();
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updateStatusLog(QString("正在连接控制器 %1:%2...").arg(controllerIP).arg(controllerPort));
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m_presenter->ConnectToController(controllerIP, controllerPort);
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updateStatusLog(QString("正在连接机械臂 %1...").arg(robotIP));
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m_presenter->ConnectToRobot(robotIP);
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}, Qt::QueuedConnection);
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});
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initThread.detach();
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}
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void MainWindow::updateStatusLog(const QString& message)
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{
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if (m_logHelper) {
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m_logHelper->appendLog(message);
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}
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}
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void MainWindow::on_btn_start_clicked()
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{
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if (!m_presenter) {
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updateStatusLog("系统未初始化");
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return;
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}
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if (!m_presenter->IsControllerConnected()) {
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StyledMessageBox::warning(this, "警告", "控制器未连接，无法启动工作流程");
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return;
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}
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if (!m_presenter->IsRobotConnected()) {
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StyledMessageBox::warning(this, "警告", "机械臂未连接，无法启动工作流程");
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return;
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}
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updateStatusLog("启动工作流程...");
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m_presenter->StartWorkflow();
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// 更新按钮状态：连续执行模式
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ui->btn_start->setEnabled(false);
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ui->btn_pause->setEnabled(true);
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ui->btn_pause->setText("暂停");
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ui->btn_step->setEnabled(false); // 连续执行时禁用单步
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}
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void MainWindow::on_btn_stop_clicked()
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{
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if (!m_presenter) {
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updateStatusLog("系统未初始化");
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return;
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}
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updateStatusLog("停止工作流程...");
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m_presenter->StopWorkflow();
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m_workflowWidget->reset();
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// 更新按钮状态：停止后恢复初始状态
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ui->btn_start->setEnabled(true);
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ui->btn_pause->setEnabled(false);
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ui->btn_pause->setText("暂停");
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ui->btn_step->setEnabled(true);
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}
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void MainWindow::on_btn_pause_clicked()
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{
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if (!m_presenter) {
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updateStatusLog("系统未初始化");
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return;
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}
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if (m_presenter->IsWorkflowPaused()) {
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// 当前是暂停状态，点击恢复
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updateStatusLog("恢复工作流程...");
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m_presenter->ResumeWorkflow();
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ui->btn_pause->setText("暂停");
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ui->btn_step->setEnabled(false); // 恢复后禁用单步
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ui->btn_start->setEnabled(false); // 恢复后禁用开始
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} else {
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// 当前是运行状态，点击暂停
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updateStatusLog("暂停工作流程...");
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m_presenter->PauseWorkflow();
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ui->btn_pause->setText("继续");
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ui->btn_step->setEnabled(true); // 暂停后启用单步
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ui->btn_start->setEnabled(false); // 暂停时仍然禁用开始
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}
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}
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void MainWindow::on_btn_step_clicked()
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{
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if (!m_presenter) {
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updateStatusLog("系统未初始化");
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return;
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}
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if (!m_presenter->IsControllerConnected()) {
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StyledMessageBox::warning(this, "警告", "控制器未连接，无法执行单步");
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return;
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}
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if (!m_presenter->IsRobotConnected()) {
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StyledMessageBox::warning(this, "警告", "机械臂未连接，无法执行单步");
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return;
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}
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updateStatusLog("执行单步...");
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m_presenter->StepWorkflow();
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// 更新按钮状态
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if (!m_presenter->IsWorkflowRunning()) {
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// 首次单步，启动工作流程
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ui->btn_start->setEnabled(false);
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ui->btn_pause->setEnabled(true);
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ui->btn_pause->setText("继续");
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}
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}
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void MainWindow::on_btn_config_clicked()
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{
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if (!m_presenter) {
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updateStatusLog("系统未初始化");
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return;
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}
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if (!m_dialogConfig) {
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m_dialogConfig = new DialogConfig(m_presenter, this);
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}
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m_dialogConfig->exec();
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}
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void MainWindow::on_btn_fullscreen_clicked()
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{
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if (m_isFullScreen) {
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// 退出全屏，恢复到正常窗口
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setWindowFlags(Qt::FramelessWindowHint);
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setGeometry(m_normalGeometry);
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showNormal();
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m_isFullScreen = false;
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updateStatusLog("退出全屏");
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} else {
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// 进入全屏
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m_normalGeometry = geometry();
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setWindowFlags(Qt::FramelessWindowHint | Qt::WindowStaysOnTopHint);
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showFullScreen();
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m_isFullScreen = true;
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updateStatusLog("进入全屏");
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}
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}
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void MainWindow::on_btn_hide_clicked()
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{
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this->showMinimized();
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}
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void MainWindow::on_btn_close_clicked()
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{
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this->close();
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}
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void MainWindow::onStatusMessageUpdated(const QString& message)
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{
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updateStatusLog(message);
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}
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void MainWindow::onWorkflowStepChanged(WorkflowStep step, const QString& message)
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{
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m_workflowWidget->updateStep(step);
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updateStatusLog(message);
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// 如果工作流程完成，检查是否真的结束了
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if (step == WorkflowStep::Completed) {
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// 延迟检查工作流程是否真的停止
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QTimer::singleShot(100, this, [this]() {
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if (!m_presenter->IsWorkflowRunning()) {
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// 工作流程已停止，更新按钮状态
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ui->btn_start->setEnabled(true);
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ui->btn_pause->setEnabled(false);
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ui->btn_pause->setText("暂停");
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ui->btn_step->setEnabled(true);
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} else if (m_presenter->IsWorkflowStepMode()) {
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// 单步模式下完成一轮，保持"继续"按钮状态不变
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// 按钮应该显示"继续"，因为处于单步等待状态
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ui->btn_pause->setText("继续");
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}
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});
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} else if (step == WorkflowStep::Error) {
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// 出错时立即更新按钮状态
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ui->btn_start->setEnabled(true);
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ui->btn_pause->setEnabled(false);
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ui->btn_pause->setText("暂停");
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ui->btn_step->setEnabled(true);
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}
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}
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void MainWindow::onControllerConnectionChanged(bool connected)
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{
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// 更新设备状态显示（使用相机1状态显示控制器连接状态）
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateCamera1Status(connected);
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}
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if (connected) {
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updateStatusLog("控制器已连接");
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} else {
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updateStatusLog("控制器已断开");
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}
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}
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void MainWindow::onRobotConnectionChanged(bool connected)
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{
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if (m_deviceStatusWidget) {
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m_deviceStatusWidget->updateRobotStatus(connected);
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}
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if (connected) {
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updateStatusLog("机械臂已连接");
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} else {
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updateStatusLog("机械臂已断开");
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}
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}
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void MainWindow::onDetectionResultUpdated(const DetectionResult& result)
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{
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m_workflowWidget->updateDetectionResult(result);
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}
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void MainWindow::mousePressEvent(QMouseEvent *event)
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{
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if (event->button() == Qt::LeftButton) {
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ResizeRegion region = getResizeRegion(event->pos());
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if (region != None) {
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// 开始缩放
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m_isResizing = true;
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m_resizeRegion = region;
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m_resizeStartPos = event->globalPos();
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m_resizeStartGeometry = this->geometry();
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event->accept();
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}
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}
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}
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void MainWindow::mouseMoveEvent(QMouseEvent *event)
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{
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if (m_isResizing && (event->buttons() & Qt::LeftButton)) {
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// 处理窗口缩放
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QPoint delta = event->globalPos() - m_resizeStartPos;
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QRect newGeometry = m_resizeStartGeometry;
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if (m_resizeRegion & Left) {
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newGeometry.setLeft(m_resizeStartGeometry.left() + delta.x());
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}
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if (m_resizeRegion & Right) {
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newGeometry.setRight(m_resizeStartGeometry.right() + delta.x());
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}
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if (m_resizeRegion & Top) {
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newGeometry.setTop(m_resizeStartGeometry.top() + delta.y());
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}
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if (m_resizeRegion & Bottom) {
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newGeometry.setBottom(m_resizeStartGeometry.bottom() + delta.y());
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}
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// 确保不小于最小尺寸
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if (newGeometry.width() >= minimumWidth() && newGeometry.height() >= minimumHeight()) {
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this->setGeometry(newGeometry);
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}
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event->accept();
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} else if (!m_isDragging) {
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// 更新鼠标光标
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ResizeRegion region = getResizeRegion(event->pos());
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updateCursor(region);
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}
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}
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void MainWindow::mouseReleaseEvent(QMouseEvent *event)
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{
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if (event->button() == Qt::LeftButton) {
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m_isResizing = false;
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m_resizeRegion = None;
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m_isDragging = false;
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updateCursor(None);
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event->accept();
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}
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}
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MainWindow::ResizeRegion MainWindow::getResizeRegion(const QPoint& pos)
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{
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int region = None;
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if (pos.x() <= RESIZE_BORDER_WIDTH) {
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region |= Left;
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} else if (pos.x() >= width() - RESIZE_BORDER_WIDTH) {
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region |= Right;
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}
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if (pos.y() <= RESIZE_BORDER_WIDTH) {
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region |= Top;
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} else if (pos.y() >= height() - RESIZE_BORDER_WIDTH) {
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region |= Bottom;
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}
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return static_cast<ResizeRegion>(region);
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}
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void MainWindow::updateCursor(ResizeRegion region)
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{
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switch (region) {
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case TopLeft:
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case BottomRight:
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setCursor(Qt::SizeFDiagCursor);
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break;
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case TopRight:
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case BottomLeft:
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setCursor(Qt::SizeBDiagCursor);
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break;
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case Left:
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case Right:
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setCursor(Qt::SizeHorCursor);
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break;
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case Top:
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case Bottom:
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setCursor(Qt::SizeVerCursor);
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break;
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default:
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setCursor(Qt::ArrowCursor);
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break;
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}
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}
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bool MainWindow::eventFilter(QObject *obj, QEvent *event)
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{
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// 只在顶部groupBox区域允许拖动
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if (obj == ui->groupBox) {
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if (event->type() == QEvent::MouseButtonPress) {
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QMouseEvent *mouseEvent = static_cast<QMouseEvent*>(event);
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if (mouseEvent->button() == Qt::LeftButton) {
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m_isDragging = true;
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m_dragPosition = mouseEvent->globalPos() - this->frameGeometry().topLeft();
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return true;
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}
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}
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else if (event->type() == QEvent::MouseMove) {
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QMouseEvent *mouseEvent = static_cast<QMouseEvent*>(event);
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if (m_isDragging && (mouseEvent->buttons() & Qt::LeftButton)) {
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this->move(mouseEvent->globalPos() - m_dragPosition);
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return true;
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}
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}
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else if (event->type() == QEvent::MouseButtonRelease) {
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QMouseEvent *mouseEvent = static_cast<QMouseEvent*>(event);
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if (mouseEvent->button() == Qt::LeftButton) {
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m_isDragging = false;
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return true;
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}
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}
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}
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return QMainWindow::eventFilter(obj, event);
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}
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